Universal underwater salvage device

Abstract

The application relates to the technical field of underwater salvage technology and discloses a universal underwater salvage device which comprises a fixed base, a salvage module and a safety pin, a through hole is arranged on the fixed base; the salvage module comprises a salvage hook, an anti-falling pawl and a buoyancy compensation cylinder; the salvage hook comprises a connecting part and a hook part connected with the connecting part; the connecting part is arranged through the through hole of the fixed base, the end of the connecting part protrudes from the end surface of the fixed base, and the safety pin is arranged on the end of the connecting part for limiting; the buoyancy compensation cylinder penetrates the side wall of the fixed base and is connected with the connecting part; the anti-falling pawl which faces the hook part is movably arranged on the connecting part, and a limiting hole is formed between the anti-falling pawl and the hook part. The universal underwater salvage device is used for completing a rescue task in cooperation with an underwater robot, has the searching and positioning capability in the rescue work, has the salvage implementation function by itself, has the simple overall structure, the salvage work is reliable, and the universal underwater salvage device is easy to realize.

Description

Technical Field

[0001] This invention relates to the field of underwater rescue technology, and more specifically, to a universal underwater rescue device. Background Technology

[0002] Currently, underwater robots are increasingly used in underwater exploration and search and rescue. However, some shortcomings have been identified during their use. While underwater robots possess excellent underwater detection technology and a certain degree of maneuverability and positioning capabilities, they suffer from insufficient rescue capabilities. In practice, the vast majority of underwater robots are limited to search operations, thus restricting their full potential. Summary of the Invention

[0003] The purpose of this invention is to address the technical problems existing in the prior art by providing a universal underwater rescue device for use in conjunction with an underwater robot to complete rescue missions. In rescue operations, it not only has search and location capabilities but also has its own rescue implementation function.

[0004] To address the problems mentioned above, the technical solution adopted by this invention is as follows:

[0005] This invention provides a universal underwater rescue device, including a fixed base, a rescue module, and a safety pin. The fixed base is provided with a through hole. The rescue module includes a rescue hook, an anti-detachment pawl, and a buoyancy compensation cylinder. The rescue hook includes a connecting part and a hook part that connects to the connecting part.

[0006] The connecting part is disposed through the through hole of the fixed base, and the end of the connecting part protrudes from the end face of the fixed base and is provided with a safety pin for limiting the position; the buoyancy compensation cylinder passes through the side wall of the fixed base and is connected to the connecting part; the connecting part is also movably provided with an anti-detachment pawl facing the hook, and a limiting hole is formed between the anti-detachment pawl and the hook.

[0007] Furthermore, the fixed base includes a cylindrical body and a mounting seat disposed on the surface of the cylindrical body. The cylindrical body has a groove that communicates with a through hole along the axial direction from one end. The cylindrical body connecting block that cooperates with the buoyancy compensation cylinder and the connecting part slides in cooperation with the groove.

[0008] Furthermore, the rescue module also includes a limiting shoulder, which is disposed on the surface of the connecting part and located at the end of the groove on the fixing base.

[0009] Furthermore, the rescue module also includes an attitude adjustment lever, which passes through the fixed base and connects to the connection part of the rescue hook.

[0010] Furthermore, the rescue module also includes a pressure adjusting cone sleeve and a pressure adjusting nut. A tapered groove is provided on the inner side of the end of the cylinder on the fixed base. The pressure adjusting cone sleeve is disposed on the tapered groove and located between the connecting part and the cylinder. A pressure adjusting nut acting on the pressure adjusting cone sleeve is disposed on the surface of the end of the cylinder.

[0011] Furthermore, the hook is a U-shaped hook, one end of the anti-detachment pawl is hinged to the connecting part, and the other end abuts against the inner wall of the hook; the anti-detachment pawl is unidirectional and forms a closed loop with the hook.

[0012] Furthermore, the attitude adjustment lever is made of a metal tube with good plasticity.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] (1) This invention inserts a rescue module into a fixed base to cooperate with an underwater robot to complete the rescue task. This enables the underwater robot to not only have the ability to search and locate, but also to carry out the rescue operation itself. The rescue module achieves rescue through the connecting part and the hook part. The buoyancy provided by the buoyancy compensation cylinder ensures the overall gravity balance with the rescue module, compensates the buoyancy center of the entire underwater rescue module, and avoids the drastic changes in underwater balance and maneuverability after the underwater robot is attached to the rescue module and detached from the fixed base. The overall structure is simple, reliable and easy to implement.

[0015] (2) The present invention limits the rescue hook by limiting the limiting shoulder to prevent the rescue module from detaching from the fixed base during the rescue process. The limiting shoulder also ensures the direction of the underwater robot's disengagement from the fixed base. The attitude swing arm and buoyancy compensation cylinder are set up side by side to further ensure the rescue attitude of the device and ensure the reliability of the overall operation.

[0016] (3) The present invention adjusts the tightness of the connection between the fixed base and the rescue hook by using a pressure adjusting cone sleeve and a pressure adjusting nut, and achieves the separation of the rescue module from the underwater robot by unlocking.

[0017] (4) The rescue hook of the present invention is equipped with an anti-detachment pawl. The anti-detachment pawl moves in one direction and can prevent the rescued object from detaching from the rescue hook after the rescue hook hooks it, thus ensuring the reliability of the rescue device. Attached Figure Description

[0018] To more clearly illustrate the solutions in this invention, a brief introduction to the accompanying drawings used in the description of the embodiments will be provided below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort. Wherein:

[0019] Figure 1 This is a schematic diagram of the universal underwater rescue device of the present invention.

[0020] Figure 2 This is a side view of the universal underwater rescue device of the present invention.

[0021] Figure 3 This is a front view of the fixed base in this invention.

[0022] Figure 4 This is a top view of the fixed base in this invention.

[0023] Figure 5 This is a left view of the fixed base in this invention.

[0024] The reference numerals in the attached drawings are explained as follows: 1-Rescue hook, 11-Connecting part, 12-Hook part, 13-Limiting hole, 2-Anti-detachment pawl, 3-Limiting shoulder, 4-Fixed base, 41-Cylinder body, 42-Mounting seat, 43-Groove, 5-Buoyancy compensation cylinder, 51-Cylinder body connecting block, 6-Attitude adjustment lever, 7-Pressure adjustment cone sleeve, 8-Pressure adjustment nut, 9-Safety pin. Detailed Implementation

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0026] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as "fixed to," "mounted to," "disposed of," or "connected to" another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it may be directly or indirectly connected to that other element.

[0027] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0028] See Figure 1 and Figure 2 As shown, the present invention provides a universal underwater rescue device for use in conjunction with an underwater robot to complete rescue missions. The rescue device includes a fixed base 4, a rescue module, and a safety pin 9. The fixed base 4 has a through hole for the rescue module to pass through. The rescue module includes a rescue hook 1, an anti-detachment pawl 2, and a buoyancy compensation cylinder 5. The rescue hook 1 includes a connecting part 11 and a hook part 12 connected to the connecting part 11.

[0029] The connecting part 11 is disposed through the through hole of the fixed base 4, and the end of the connecting part 11 protrudes from the end face of the fixed base 4 and is provided with a safety pin 9 for limiting. The buoyancy compensation cylinder 5 passes through the side wall of the fixed base 4 and is connected to the connecting part 11. The connecting part 11 is also movably provided with an anti-detachment pawl 2 facing the hook part 12, and a limiting hole 13 is formed between the anti-detachment pawl 2 and the hook part 12.

[0030] In this embodiment, the underwater robot is installed in conjunction with the fixed base 4, and a rescue module is set on the fixed base 4, so that the underwater robot has the function of rescue. The rescue module cooperates with the rescue hook 1 and the anti-detachment pawl 2 to facilitate the rescue hook 1 to hook the salvaged object and ensure the reliability of the rescue function. The buoyancy provided by the buoyancy compensation cylinder 5 ensures the overall gravity balance of the rescue module and compensates for the buoyancy center of the entire underwater rescue module, further ensuring the reliability of the rescue device.

[0031] Furthermore, the fixed base 4 includes a cylindrical body 41 and a mounting seat 42 disposed on the surface of the cylindrical body 41. The cylindrical body 41 has a groove 43 axially disposed at its end, communicating with a through hole. The cylindrical body connecting block 51 that cooperates with the buoyancy compensation cylinder 5 and the connecting part 11 slides in cooperation with the groove 43.

[0032] Specifically, the mechanical mounting interface of the fixed base 4 is universal, that is, the mounting base 42 is provided with a connection hole, and the fixing method can be determined according to the mounting interface of the underwater robot. When the connecting part 11 is inserted into the through hole of the fixed base 4, the buoyancy compensation cylinder 5 and the cylinder connecting block 51 that cooperates with the connecting part 11 can move horizontally within the groove 43.

[0033] Furthermore, the rescue module also includes a limiting shoulder 3, which is disposed on the surface of the connecting part 11 on the rescue hook 1 and located at the end corresponding to the groove 43 on the cylinder 41, for limiting the rescue module.

[0034] Specifically, by setting a limiting shoulder 3, the rescue module will not detach from the fixed base 4 during the rescue process. When the rescue hook 1 hooks the target, the fixed base 4 acts on the limiting shoulder 3 under the action of the underwater robot. The force of this push-off is greater than the friction between the limiting shoulder 3 and the fixed base 4, so that the underwater robot and the fixed base 4 are completely separated from the rescue module. The groove 43 on the fixed base 4 can guide the translational movement of the buoyancy compensation cylinder 5.

[0035] Furthermore, the rescue module also includes an attitude adjustment lever 6, which passes through the fixed base 4 and is connected to the connecting part 11 of the rescue hook 1.

[0036] Specifically, by setting a buoyancy compensation cylinder 5 and an attitude adjustment lever 6 on the rescue hook 1, the two are set side by side, which can ensure the stability of the rescue posture of the rescue device. The limiting shoulder 3 can limit the travel of the buoyancy compensation cylinder 5 and the attitude adjustment lever 6 within the groove 43, and also ensure the direction of the underwater robot's disengagement from the fixed base 4.

[0037] Furthermore, the rescue module also includes a pressure adjusting cone sleeve 7 and a pressure adjusting nut 8. A conical groove 44 is provided on the inner side of the end of the cylinder 41 on the fixed base 4, and a pressure adjusting cone sleeve 7 is provided on the conical groove 4, that is, the pressure adjusting cone sleeve 7 is located between the connecting part 11 and the cylinder 41. A pressure adjusting nut 8 is provided on the surface of the end of the cylinder 41, and the pressure adjusting nut 8 also acts on the end where the cylinder 41 and the pressure adjusting cone sleeve 7 are connected, which can ensure the reliability of the installation of the pressure adjusting cone sleeve 7.

[0038] In this embodiment, the fixed base 4 can be divided into two parts: a guide section with a groove 43 and a closed clamping section. The guide section helps the rescue hook 1 to be smoothly inserted into the fixed base 4 without interfering with the structure of the buoyancy compensation cylinder 5 and the attitude adjustment lever 6, and maintains the guiding ability for the rescue hook 1. The clamping section, together with the pressure adjusting cone sleeve 7 and the pressure adjusting nut 8, can adjust the clamping friction force, thereby setting the minimum load for the entire rescue module to operate.

[0039] Furthermore, the hook 12 is a U-shaped hook, one end of the anti-detachment pawl 2 is hinged to the connecting part 11, and the other end abuts against the inner wall of the hook 12; the anti-detachment pawl 2 is unidirectional and forms a closed loop with the hook 12 as a limiting hole 13.

[0040] Specifically, the anti-detachment pawl 2 has unidirectional movement, which makes the target to be rescued unable to detach once it enters the closed loop formed by the anti-detachment pawl 2 and the rescue hook 1, thus ensuring the reliability of the rescue device.

[0041] Furthermore, the attitude adjustment lever 6 is made of a metal tube with good plasticity. After the rope is tied to the hook 12 of the rescue hook 1, it is wrapped around the attitude adjustment lever 6 and connected to the dry end, so that the rope can be kept straight and taut on the rescue module and can avoid the fixed base 4 and other equipment.

[0042] The universal underwater rescue device provided by this invention allows the underwater robot to be secured to the mounting base 42 of the fixed base 4 via a universal mechanical interface before performing a rescue mission, and to carry the rescue module for the search and rescue task. The entire rescue module passes through the through hole of the fixed base 4, and a pressure adjusting cone sleeve 7 is inserted between the fixed base 4 and the end of the rescue hook 1. A pressure adjusting nut 8 is screwed into the external thread on the fixed base 4 to control the clamping friction between the fixed base 4 and the rescue hook 1. A rope is tied to the rescue hook 1, wrapped around the attitude adjustment lever 6 several times, and then connected to the dry end of the mother ship. After pulling out the safety pin 9, the underwater robot can carry the rescue device into the water.

[0043] Once the rescue device hooks the target with the rescue hook 1, the underwater robot reverses and detaches from the rescue module, and the fixed base 4 separates from the rescue hook 1. The underwater robot is then retrieved separately, and by retrieving the rope, the rescue hook 1 and the rescued target are brought out of the water together and retrieved separately, completing the rescue mission.

[0044] During the above-mentioned rescue process, the limiting shoulder 3 is used to ensure the detachment direction of the fixed base 4, the buoyancy compensation cylinder 5 is used to ensure the stable posture of the rescue device underwater, the attitude adjustment swing arm 6 is used to ensure that the rope does not generate potential entanglement, and the pressure adjusting cone sleeve 7 and the pressure adjusting nut 8 work together to adjust the friction between the rescue hook 1 and the fixed base 4, thereby ensuring the reliability of the rescue process, especially under underwater unmanned operation conditions, the reliability is high.

[0045] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A universal underwater rescue device, characterized in that: The device includes a fixed base, a rescue module, and a safety pin. The fixed base has a through hole. The rescue module includes a rescue hook, an anti-detachment pawl, and a buoyancy compensation cylinder. The rescue hook includes a connecting part and a hook part that connects to the connecting part. The connecting part is disposed through the through hole of the fixed base, and the end of the connecting part protrudes from the end face of the fixed base and is provided with a safety pin for limiting the position; the buoyancy compensation cylinder passes through the side wall of the fixed base and is connected to the connecting part; the connecting part is also movably provided with an anti-detachment pawl facing the hook, and a limiting hole is formed between the anti-detachment pawl and the hook. The fixed base includes a cylinder, and the rescue module further includes a pressure adjusting cone sleeve and a pressure adjusting nut. A tapered groove is provided on the inner side of the end of the cylinder on the fixed base. The pressure adjusting cone sleeve is disposed on the tapered groove and located between the connecting part and the cylinder. A pressure adjusting nut acting on the pressure adjusting cone sleeve is disposed on the surface of the end of the cylinder.

2. The universal underwater rescue device according to claim 1, characterized in that: The fixed base also includes a mounting seat disposed on the surface of the cylinder, and the cylinder has a groove that communicates with the through hole along the axial direction from the end; the cylinder connecting block of the buoyancy compensation cylinder that cooperates with the connecting part slides in cooperation with the groove.

3. The universal underwater rescue device according to claim 2, characterized in that: The rescue module also includes a limiting shoulder, which is disposed on the surface of the connecting part and located at the end of the groove on the fixed base.

4. The universal underwater rescue device according to claim 2, characterized in that: The rescue module also includes an attitude adjustment lever, which passes through the fixed base and is connected to the connection part of the rescue hook.

5. The universal underwater rescue device according to claim 2, characterized in that: The hook is a U-shaped hook. One end of the anti-detachment pawl is hinged to the connecting part, and the other end abuts against the inner wall of the hook. The anti-detachment pawl moves in one direction and forms a closed loop with the hook.

6. The universal underwater rescue device according to claim 4, characterized in that: The attitude adjustment lever is made of a metal tube with good plasticity.

Images